Passivity-Based Sliding Mode Control for the Robust Trajectory Tracking of Unmanned Surface Vessels Under External Disturbances and Model Uncertainty

Abstract

This study uses a port-Hamiltonian framework to address trajectory tracking control for unmanned surface vessels (USVs) under unknown disturbances. A passivity-based sliding mode controller is designed, integrating adaptive disturbance estimation and an RBFNN-based uncertainty estimator. Stability is rigorously proven, and simulations confirm superior tracking performance, strong disturbance rejection, and accurate uncertainty estimation.

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